CN101947962B - A rapid non-contact railway encroachment measurement method - Google Patents

Abstract

A quick non-contact measuring method for railway intrusion is a measuring method for automatically measuring the distance between objects such as railway stations and the like and a gauge center and the height relative to a steel rail surface based on a structured light three-dimensional visual detection technology. The method is based on the principle of structured light three-dimensional vision measurement, adopts a line-structured laser and a camera, the line-structured laser emits a laser line vertical to the steel rail surface, the camera acquires an image irradiated by the laser line, and a microprocessor calculates the distance between objects such as a railway platform and the like and a rail gauge center and the height relative to the steel rail surface according to the space three-dimensional relation, thereby realizing non-contact, high-speed and high-precision measurement.

Description

Translated fromChinese

一种快速非接触式铁道侵界的测量方法A rapid non-contact railway encroachment measurement method

技术领域technical field

本发明是一种基于结构光三维视觉检测技术的快速非接触式铁道侵界的测量方法，属于自动化检测技术领域。The invention relates to a fast non-contact railway boundary measurement method based on structured light three-dimensional vision detection technology, and belongs to the technical field of automatic detection.

背景技术Background technique

近年来，国内铁路多次提速，特别是高速动车组的运行，列车的行驶速度越来越快，这也对铁路的安全提出了更高的要求。当站台、电线或是其他物体侵入到列车行驶的空间时，会造成严重的安全事故。因此，对铁道侵界的测量是极其重要的。In recent years, the speed of domestic railways has been increased many times, especially the operation of high-speed EMUs, and the speed of trains is getting faster and faster, which also puts forward higher requirements for railway safety. When the platform, wires or other objects invade the space where the train runs, it will cause serious safety accidents. Therefore, the measurement of railway encroachment is extremely important.

针对站台侵界的测量，铁路部门现有机械式的站台测量尺，用于测量轨距中心与站台侧面之间的距离及钢轨面与站台平面之间的高度。由于站台测量尺本身结构的原因，装置比较笨重，使用较为复杂，精度也不够高。测量时需要由人来进行操作并读出测量数据，测量效率低，劳动强度大。For the measurement of platform encroachment, the railway department currently has a mechanical platform measuring ruler, which is used to measure the distance between the gauge center and the side of the platform and the height between the rail surface and the platform plane. Due to the reason of the structure of the platform measuring ruler itself, the device is relatively heavy, the use is relatively complicated, and the accuracy is not high enough. During the measurement, human beings are required to operate and read out the measurement data, so the measurement efficiency is low and the labor intensity is high.

由于电子技术、检测技术的发展，使得对铁道侵界的快速测量成为可能。Due to the development of electronic technology and detection technology, it is possible to quickly measure railway encroachment.

发明内容Contents of the invention

技术问题：本发明的目的是提供一种高速高精度的快速非接触式铁道侵界的测量方法，用于自动测量铁路站台等物体与轨距中心的距离及相对于钢轨面的高度。Technical problem: The purpose of this invention is to provide a high-speed, high-precision, fast non-contact railway encroachment measurement method, which is used to automatically measure the distance between objects such as railway platforms and the gauge center and the height relative to the rail surface.

技术方案：本发明采用结构光三维视觉检测技术，由线结构激光器发射与钢轨面相垂直的激光线，摄像头采集激光线照射的图像，由微处理器根据空间三维关系计算出铁路站台等物体与轨距中心之间的距离及相对于钢轨面的高度。Technical solution: The present invention adopts structured light three-dimensional visual detection technology, and the line-structure laser emits a laser line perpendicular to the rail surface, and the camera collects the image irradiated by the laser line, and the microprocessor calculates the relationship between objects such as railway platforms and rails according to the three-dimensional relationship in space. The distance from the center and the height relative to the rail surface.

本发明的快速非接触式铁道侵界的测量方法为：该方法采用线结构激光器发射与钢轨面相垂直的激光线，摄像头采集激光线照射处的图像，根据计算机图像坐标系下的二维坐标和世界坐标系下的三维空间坐标之间的转换关系，得到激光线照射处的物体与轨距中心之间的距离及相对于钢轨面的高度：The method for measuring the fast non-contact railway boundary of the present invention is as follows: the method adopts a line structure laser to emit a laser line perpendicular to the rail surface, and the camera collects the image of the place where the laser line is irradiated, and according to the two-dimensional coordinates under the computer image coordinate system and The conversion relationship between the three-dimensional space coordinates in the world coordinate system, the distance between the object at the laser line irradiation and the gauge center and the height relative to the rail surface are obtained:

微处理器控制线结构激光器发射与钢轨面相垂直的激光线，摄像头将采集到的图像送入微处理器进行处理，由微处理器根据计算机图像坐标系下的二维坐标和世界坐标系下的三维空间坐标之间的转换关系计算出激光线照射处的物体与轨距中心的距离及相对于钢轨面的高度，并将测量结果送显示装置。线结构激光器和摄像头固定于横梁的两端；当横梁通过其两端的两个专用卡具固定于两钢轨之间时，保证线结构激光器和摄像头相对于两轨中心线和钢轨面的位置A和B都是确定的，可以通过测量标定，同时，将AB连线的中点O作为世界坐标系的原点；The microprocessor controls the line structure laser to emit a laser line perpendicular to the rail surface, and the camera sends the collected images to the microprocessor for processing. The microprocessor controls the two-dimensional coordinates in the computer image coordinate system and the three-dimensional coordinates in the world coordinate system The conversion relationship between the space coordinates calculates the distance between the object irradiated by the laser line and the center of the gauge and the height relative to the rail surface, and sends the measurement results to the display device. The line-structure laser and the camera are fixed at both ends of the beam; when the beam is fixed between the two rails through two special fixtures at both ends, the positions A and B is determined and can be calibrated by measurement. At the same time, the midpoint O of the line AB is taken as the origin of the world coordinate system;

其中微处理器的测量方法具体如下：The measurement method of the microprocessor is as follows:

1)打开线结构激光器，使其发射与钢轨面相垂直的激光线；1) Turn on the line structure laser so that it emits a laser line perpendicular to the rail surface;

2)打开摄像头，拍摄激光线照射处的图像；2) Turn on the camera and take pictures of the place where the laser line is irradiated;

3)关闭线结构激光器，摄像头拍摄与步骤2)相同位置处的图像；3) Turn off the line structure laser, and the camera captures the image at the same position as step 2);

4)微处理器接收摄像头采集到的两幅图像；4) The microprocessor receives the two images collected by the camera;

5)将两幅图像相减，提取图像中的激光线；5) Subtract the two images to extract the laser line in the image;

6)根据计算机图像坐标系下的二维坐标和世界坐标系下的三维空间坐标之间的转换关系，将图像中激光线上点的二维坐标转换为世界坐标系下的三维坐标；由此可以得到激光线上的点在世界坐标系中相对于两轨中心和钢轨面的位置；6) according to the conversion relationship between the two-dimensional coordinates under the computer image coordinate system and the three-dimensional space coordinates under the world coordinate system, the two-dimensional coordinates of the points on the laser line in the image are converted into three-dimensional coordinates under the world coordinate system; thus The position of the point on the laser line relative to the center of the two rails and the rail surface in the world coordinate system can be obtained;

7)判断激光线照射处的物体有无侵入列车行驶的范围；7) Judging whether the object at the irradiated place of the laser line invades the range of the train;

8)将测量结果送显示装置显示。8) Send the measurement results to the display device for display.

本发明的非接触式站台测量装置包括线结构激光器、摄像头、微处理器、显示装置、横梁、专用卡具和电源；其中，线结构激光器的输入接微处理器的输出端，摄像头的输出端接微处理器的输入端，微处理器的输出端接显示装置，线结构激光器和摄像头固定于横梁的两端，当专用卡具固定于钢轨时能够使线结构激光器、摄像头和横梁都与轨距中心线保持确定的位置关系。The non-contact platform measuring device of the present invention includes a line-structured laser, a camera, a microprocessor, a display device, a crossbeam, a special fixture and a power supply; wherein, the input of the line-structured laser is connected to the output of the microprocessor, and the output of the camera is It is connected to the input end of the microprocessor, and the output end of the microprocessor is connected to the display device. The line-structure laser and the camera are fixed on both ends of the beam. When the special fixture is fixed on the rail, the line-structure laser, camera and beam can be connected to the rail Maintain a definite positional relationship from the centerline.

有益效果：本发明采用了结构光三维视觉检测技术，可以非接触、高速、高精度地测量铁轨两旁的物体与轨距中心之间的距离及钢轨面与站台平面之间的高度，克服了现有的机械式站台测量尺的缺陷，极大地提高了测量效率和测量精度。Beneficial effects: the present invention adopts structured light three-dimensional visual detection technology, which can measure the distance between the objects on both sides of the rail and the center of the gauge and the height between the rail surface and the platform plane in a non-contact, high-speed, high-precision manner, which overcomes the existing The defects of some mechanical platform measuring rulers have greatly improved the measurement efficiency and measurement accuracy.

附图说明Description of drawings

图1为线结构光视觉传感器的透视模型。Figure 1 is a perspective model of a line structured light vision sensor.

图2为本发明的测量装置示意图。图中，①是线结构激光器，②是摄像头，③是微处理器，④是显示装置，⑤是横梁、⑥是专用卡具，⑦是钢轨。横梁两端的专用卡具可以将该横梁可靠地固定在钢轨平面内，同时使得线激光器和摄像头处于钢轨平面内的轨距中心。其中的专用卡具可以采用如图3所示的X型弹簧卡具，也可以采用如图4所示的轮状卡具。Fig. 2 is a schematic diagram of the measuring device of the present invention. In the figure, ① is a line-structure laser, ② is a camera, ③ is a microprocessor, ④ is a display device, ⑤ is a beam, ⑥ is a special fixture, and ⑦ is a rail. The special clamps at both ends of the beam can reliably fix the beam in the plane of the rail, and at the same time make the line laser and camera at the center of the gauge in the plane of the rail. The special fixture can be the X-shaped spring fixture as shown in Figure 3, or the wheel-shaped fixture as shown in Figure 4.

图3为本发明测量装置中X型专用卡具的示意图。图中，a为刚性直杆，b为轴承，c为固定卡口，d为弹簧。两根相同长度的刚性直杆，其中心处有过孔，通过轴承b相连接并可在一平面内转动。刚性直杆在轴承两侧分别连接有一弹簧，使两直杆有并拢的趋势。固定卡口的形状与钢轨的侧面相同，使得卡口可与钢轨侧面紧密贴合。当采用上述结构时，可以保证X型卡具可靠地固定于钢轨平面内，且轴承的中心恰在两轨的中心线上。Fig. 3 is a schematic diagram of the X-type special fixture in the measuring device of the present invention. In the figure, a is a rigid straight rod, b is a bearing, c is a fixed bayonet, and d is a spring. Two rigid straight rods of the same length have holes in their centers, are connected by bearing b and can rotate in a plane. The rigid straight rods are respectively connected with a spring on both sides of the bearing, so that the two straight rods tend to be close together. The shape of the fixed bayonet is the same as the side of the rail, so that the bayonet can fit tightly with the side of the rail. When the above-mentioned structure is adopted, it can be ensured that the X-shaped fixture is reliably fixed in the rail plane, and the center of the bearing is just on the center line of the two rails.

图4为本发明测量装置中轮状卡具的示意图。图中，e为车轮，f为横梁，g为连接杆，h为钢轨。其中车轮的外廓可以使得车轮与钢轨紧密贴合，且不会发生侧向位移。连接杆能可靠地连接横梁与车轮，并保证横梁相对于两轨中心线和钢轨面的距离都是确定的，可以通过测量标定，以此作为视觉测量的位置标准。Fig. 4 is a schematic diagram of the wheel fixture in the measuring device of the present invention. In the figure, e is a wheel, f is a beam, g is a connecting rod, and h is a rail. The outer profile of the wheel can make the wheel and the rail fit closely without lateral displacement. The connecting rod can reliably connect the beam and the wheel, and ensure that the distance between the beam and the centerline of the two rails and the rail surface is determined, which can be calibrated by measurement and used as a position standard for visual measurement.

图5为本发明的测量装置位置示意图。图中，⑦是钢轨，⑧是站台，①是线结构激光器，②是摄像头，平面G是钢轨平面，平面Γ是与平面G垂直相交于两轨中心线的平面，平面F是激光平面，L是激光平面F与站台侧面的交线。当横梁通过两端的X型专用卡具固定于平面G时，可以使得横梁、线激光器和摄像头都位于平面G内的两轨中心线上，这样就确定了线结构激光器和摄像头的位置。Fig. 5 is a schematic diagram of the position of the measuring device of the present invention. In the figure, ⑦ is the rail, ⑧ is the platform, ① is the line structure laser, ② is the camera, plane G is the plane of the rail, plane Γ is the plane perpendicular to the center line of the two rails intersecting with plane G, plane F is the laser plane, L is the intersection line between the laser plane F and the side of the platform. When the beam is fixed on the plane G by the X-shaped special fixtures at both ends, the beam, the line laser and the camera can all be located on the center line of the two rails in the plane G, thus determining the position of the line structure laser and the camera.

具体实施方式Detailed ways

本发明的快速非接触式铁道侵界的测量方法采用线结构激光器发射与钢轨面相垂直的激光线，摄像头采集激光线照射处的图像，根据计算机图像坐标系下的二维坐标和世界坐标系下的三维空间坐标之间的转换关系，得到激光线照射处的物体与轨距中心之间的距离及相对于钢轨面的高度：The fast non-contact railway boundary measurement method of the present invention adopts a line structure laser to emit a laser line perpendicular to the rail surface, and the camera collects the image of the place where the laser line is irradiated, according to the two-dimensional coordinates in the computer image coordinate system and the world coordinate system. The conversion relationship between the three-dimensional space coordinates of the laser line, the distance between the object at the laser line irradiation and the gauge center and the height relative to the rail surface are obtained:

微处理器3控制线结构激光器1发射与钢轨面相垂直的激光线，摄像头2将采集到的图像送入微处理器3进行处理，由微处理器3根据计算机图像坐标系下的二维坐标和世界坐标系下的三维空间坐标之间的转换关系计算出激光线照射处的物体与轨距中心的距离及相对于钢轨面的高度，并将测量结果送显示装置4。线结构激光器1和摄像头2固定于横梁5的两端；当横梁5通过其两端的两个专用卡具6固定于两钢轨之间时，保证线结构激光器1和摄像头2相对于两轨中心线和钢轨面的位置A和B都是确定的，可以通过测量标定，同时，将A和B连线的中点O作为世界坐标系的原点；The microprocessor 3 controls the line structure laser 1 to emit a laser line perpendicular to the rail surface, the camera 2 sends the collected images to the microprocessor 3 for processing, and the microprocessor 3 according to the two-dimensional coordinates in the computer image coordinate system and the world The conversion relationship between the three-dimensional space coordinates in the coordinate system is used to calculate the distance between the object irradiated by the laser line and the gauge center and the height relative to the rail surface, and send the measurement results to the display device 4 . The line-structure laser 1 and the camera 2 are fixed at both ends of the beam 5; when the beam 5 is fixed between the two rails through two special clamps 6 at both ends, it is ensured that the line-structure laser 1 and the camera 2 are relative to the center line of the two rails. The positions A and B of the rail surface and the rail surface are determined and can be calibrated by measurement. At the same time, the midpoint O of the line connecting A and B is taken as the origin of the world coordinate system;

其中微处理器3的测量方法具体如下：Wherein the measuring method of microprocessor 3 is specifically as follows:

1)打开线结构激光器，使其发射与钢轨面相垂直的激光线；1) Turn on the line structure laser so that it emits a laser line perpendicular to the rail surface;

2)打开摄像头，拍摄激光线照射处的图像；2) Turn on the camera and take pictures of the place where the laser line is irradiated;

3)关闭线结构激光器，摄像头拍摄与步骤2)相同位置处的图像；3) Turn off the line structure laser, and the camera captures the image at the same position as step 2);

4)微处理器接收摄像头采集到的两幅图像；4) The microprocessor receives the two images collected by the camera;

5)将两幅图像相减，提取图像中的激光线；5) Subtract the two images to extract the laser line in the image;

6)根据计算机图像坐标系下的二维坐标和世界坐标系下的三维空间坐标之间的转换关系，将图像中激光线上点的二维坐标转换为世界坐标系下的三维坐标；由此可以得到激光线上的点在世界坐标系中相对于两轨中心和钢轨面的位置；6) according to the conversion relationship between the two-dimensional coordinates under the computer image coordinate system and the three-dimensional space coordinates under the world coordinate system, the two-dimensional coordinates of the points on the laser line in the image are converted into three-dimensional coordinates under the world coordinate system; thus The position of the point on the laser line relative to the center of the two rails and the rail surface in the world coordinate system can be obtained;

7)判断激光线照射处的物体有无侵入列车行驶的范围；7) Judging whether the object at the irradiated place of the laser line invades the range of the train;

8)将测量结果送显示装置显示。8) Send the measurement results to the display device for display.

如图1所示，摄像机3D视觉测量模型通常以针孔模型为基础。世界坐标系与传感器光平面坐标系一致，设为O_w-x_wy_wz_w，其O_w-x_wy_w与光平面重合。像平面坐标系为O_I-X_IY_I，其中O_I为光轴与像平面的交点，是像平面的光学中心。O_I和O_c间距离f为物镜成像的有效焦距。其中O_IX_I轴沿像素横向方向，O_IY_I轴垂直于O_IX_I轴。在计算机图像中，通常以左上角的点作为图像坐标的原点，即以图2中的O点为原点建立图像坐标系Ouv。摄像机坐标系O_c-x_cy_cz_c，其中O_c点为成像透视中心，即物镜的光学主点，O_cz_c为摄像机物镜光轴，垂直于CCD像平面。O_cx_c轴和O_cy_c轴分别平行于O_IX_I轴和O_IY_I轴。As shown in Figure 1, camera 3D vision measurement models are usually based on pinhole models. The world coordinate system is consistent with the sensor light plane coordinate system, set O_w -x_w y_w z_w , and its O_w -x_w y_w coincides with the light plane. The image plane coordinate system is O_I -X_I Y_I , where O_I is the intersection point of the optical axis and the image plane, and is the optical center of the image plane. The distance f between O_I and O_c is the effective focal length of the objective lens imaging. The O_I X_I axis is along the horizontal direction of the pixel, and the O_I Y_I axis is perpendicular to the O_I X_I axis. In computer graphics, the point in the upper left corner is usually used as the origin of the image coordinates, that is, the image coordinate system Ouv is established with the point O in Figure 2 as the origin. Camera coordinate system O_c -x_cyc z_c , where O_c point is the imaging perspective center, that is, the optical principal point of the objective lens, and O_c z_c is the optical axis of the camera objective lens, which is perpendicular to the CCD image plane. The O_c x_c axis and the O_cyc axis are parallel to the O_I X_I axis and the O_I Y_I axis, respectively.

以线结构光为例，一字线激光器投射出一光平面与待测目标交于线L。P_w是直线L上一点，P_w在世界坐标系O_w-x_wy_wz_w、摄像机坐标系O_c-x_cy_cz_c以及计算机图像平面坐标系Ouv下的对应坐标分别为(x_w，y_w，z_w)、(x_c，y_c，z_c)以及(x_I，y_I)。则世界坐标系下的三维空间坐标与计算机图像坐标系下的二维坐标转换关系如下式所示：Taking line structured light as an example, a line laser projects a light plane that intersects the line L with the target to be measured. P_w is a point on the straight line L, and the corresponding coordinates of P_w in the world coordinate system O_w -x_w y_w z_w , the camera coordinate system O_c -x_c y_c z_c and the computer image plane coordinate system Ouv are ( x_w , y_w , z_w ), (x_c , y_c , z_c ), and (x_I , y_I ). Then the transformation relationship between the three-dimensional space coordinates in the world coordinate system and the two-dimensional coordinates in the computer image coordinate system is as follows:

$\mathrm{<span><span>s</span>the\; s</span>}\left[\begin{array}{c}\mathrm{<span><span>u</span>u</span>}\\ \mathrm{<span><span>v</span>v</span>}\\ \mathrm{<span><span>1</span>1</span>}\end{array}\right]<span><span>=</span>=</span>\mathrm{<span><span>A</span>A</span>}\left[\begin{array}{c}{\mathrm{<span><span>x</span>x</span>}}_{\mathrm{<span><span>c</span>c</span>}}\\ {\mathrm{<span><span>y</span>the\; y</span>}}_{\mathrm{<span><span>c</span>c</span>}}\\ {\mathrm{<span><span>z</span>z</span>}}_{\mathrm{<span><span>c</span>c</span>}}\end{array}\right]<span><span>=</span>=</span>\mathrm{<span><span>A</span>A</span>}\left[\begin{array}{cc}\mathrm{<span><span>R</span>R</span>}& \mathrm{<span><span>T</span>T</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span><span>x</span>x</span>}}_{\mathrm{<span><span>w</span>w</span>}}\\ {\mathrm{<span><span>y</span>the\; y</span>}}_{\mathrm{<span><span>w</span>w</span>}}\\ {\mathrm{<span><span>z</span>z</span>}}_{\mathrm{<span><span>w</span>w</span>}}\\ \mathrm{<span><span>1</span>1</span>}\end{array}\right]<span><span>=</span>=</span>\left[\begin{array}{ccc}\mathrm{<span><span>\&alpha;</span>\&alpha;</span>}& \mathrm{<span><span>c</span><figure-callout\; label="c\; u"\; filenames="HSA00000248222600011.png"\; state="\{\{state\}\}">c</figure-callout></span><figure-callout\; label="c\; u"\; filenames="HSA00000248222600011.png"\; state="\{\{state\}\}"></figure-callout>}& {\mathrm{<span><span></span></span>}}_{}{\mathrm{<span><span>u</span>u</span>}}_{\mathrm{<span><span>0</span>0</span>}}\\ \mathrm{<span><span>0</span>0</span>}& \mathrm{<span><span>\&beta;</span>\&beta;</span>}& {\mathrm{<span><span>v</span><figure-callout\; label="v"\; filenames="HSA00000248222600011.png"\; state="\{\{state\}\}">v</figure-callout></span>}}_{\mathrm{<span><span>0</span>0</span>}}\\ \mathrm{<span><span>0</span>0</span>}& \mathrm{<span><span>0</span>0</span>}& \mathrm{<span><span>1</span>1</span>}\end{array}\right]\left[\begin{array}{cc}\mathrm{<span><span>R</span>R</span>}& \mathrm{<span><span>T</span>T</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span><span>x</span>x</span>}}_{\mathrm{<span><span>w</span>w</span>}}\\ {\mathrm{<span><span>y</span>the\; y</span>}}_{\mathrm{<span><span>w</span>w</span>}}\\ {\mathrm{<span><span>z</span>z</span>}}_{\mathrm{<span><span>w</span>w</span>}}\\ \mathrm{<span><span>1</span>1</span>}\end{array}\right]<span><span>-</span>-</span><span><span>-</span>-</span><span><span>-</span>-</span><span><span>(</span>(</span>\mathrm{<span><span>1</span>1</span>}<span><span>)</span>)</span>$

其中，s是一个修正因子；R为旋转矩阵，T为平移矢量，R和T决定了摄像机相对于世界坐标系的方向和位置。矩阵A为线性系统的内部参数矩阵，其中u₀和v₀为O_I在计算机图像坐标下的坐标，α和β是横纵坐标轴对应于焦距f的尺度因子(或称为有效焦距)，c是两坐标轴不垂直因子。Among them, s is a correction factor; R is the rotation matrix, T is the translation vector, R and T determine the direction and position of the camera relative to the world coordinate system. Matrix A is the internal parameter matrix of the linear system, where u₀ and v₀ are the coordinates of O_I in the computer image coordinates, α and β are the scale factors of the horizontal and vertical axes corresponding to the focal length f (or called the effective focal length), c is the non-perpendicular factor of the two coordinate axes.

这样通过事先的标定即可以得到世界坐标系下的三维空间坐标与计算机图像坐标系下的二维坐标转换关系，容易由计算机图像上点的对应坐标得到三维空间内点的坐标。In this way, the conversion relationship between the three-dimensional space coordinates in the world coordinate system and the two-dimensional coordinates in the computer image coordinate system can be obtained through prior calibration, and the coordinates of points in the three-dimensional space can be easily obtained from the corresponding coordinates of points on the computer image.

Claims (1)

Translated fromChinese

1.一种快速非接触式铁道侵界的测量方法，其特征在于该方法采用线结构激光器发射与钢轨面相垂直的激光线，摄像头采集激光线照射处的图像，根据计算机图像坐标系下的二维坐标和世界坐标系下的三维空间坐标之间的转换关系，得到激光线照射处的物体与两轨中心线之间的距离及相对于钢轨面的高度：1. A method for measuring fast non-contact railway encroachment, characterized in that the method adopts a line-structured laser to emit a laser line perpendicular to the rail surface, and a camera collects the image of the laser line irradiation place, according to the two-dimensional image under the computer image coordinate system The conversion relationship between the three-dimensional coordinates and the three-dimensional space coordinates in the world coordinate system, the distance between the object at the laser line irradiation and the center line of the two rails and the height relative to the rail surface are obtained:微处理器(3)控制线结构激光器(1)发射与钢轨面相垂直的激光线，摄像头(2)将采集到的图像送入微处理器(3)进行处理，由微处理器(3)根据计算机图像坐标系下的二维坐标和世界坐标系下的三维空间坐标之间的转换关系计算出激光线照射处的物体与两轨中心线的距离及相对于钢轨面的高度，并将测量结果送显示装置(4)；线结构激光器(1)和摄像头(2)固定于横梁(5)的两端；当横梁(5)通过其两端的两个专用卡具(6)固定于两钢轨之间时，通过测量标定，保证线结构激光器(1)相对于两轨中心线和钢轨面的位置A和摄像头(2)相对于两轨中心线和钢轨面的位置B都是确定的，同时，将AB连线的中点O作为世界坐标系的原点；The microprocessor (3) controls the line structure laser (1) to emit laser lines perpendicular to the rail surface, and the camera (2) sends the collected images to the microprocessor (3) for processing, and the microprocessor (3) according to the computer The conversion relationship between the two-dimensional coordinates in the image coordinate system and the three-dimensional space coordinates in the world coordinate system calculates the distance between the object at the laser line irradiation and the center line of the two rails and the height relative to the rail surface, and sends the measurement results to The display device (4); the line-structured laser (1) and the camera (2) are fixed at both ends of the beam (5); when the beam (5) is fixed between the two rails through two special fixtures (6) , the position A of the line-structured laser (1) relative to the centerline of the two rails and the rail surface and the position B of the camera (2) relative to the centerline of the two rails and the rail surface are determined by measurement and calibration. At the same time, the The midpoint O of the line AB is used as the origin of the world coordinate system;其中微处理器(3)的测量方法具体如下：Wherein the measuring method of microprocessor (3) is specifically as follows:1)打开线结构激光器，使其发射与钢轨面相垂直的激光线；1) Turn on the line structure laser so that it emits a laser line perpendicular to the rail surface;2)打开摄像头，拍摄激光线照射处的图像；2) Turn on the camera and take pictures of the place where the laser line is irradiated;3)关闭线结构激光器，摄像头拍摄与步骤2)相同位置处的图像；3) Turn off the line structure laser, and the camera captures the image at the same position as step 2);4)微处理器接收摄像头采集到的两幅图像；4) The microprocessor receives the two images collected by the camera;5)将两幅图像相减，提取图像中的激光线；5) Subtract the two images to extract the laser line in the image;6)根据计算机图像坐标系下的二维坐标和世界坐标系下的三维空间坐标之间的转换关系，将图像中激光线上点的二维坐标转换为世界坐标系下的三维坐标；由此可以得到激光线上的点在世界坐标系中相对于两轨中心线和钢轨面的位置；6) according to the conversion relationship between the two-dimensional coordinates under the computer image coordinate system and the three-dimensional space coordinates under the world coordinate system, the two-dimensional coordinates of the points on the laser line in the image are converted into three-dimensional coordinates under the world coordinate system; thus The position of the point on the laser line relative to the center line of the two rails and the rail surface in the world coordinate system can be obtained;7)判断激光线照射处的物体有无侵入列车行驶的范围；7) Judging whether the object at the irradiated place of the laser line invades the range of the train;8)将测量结果送显示装置显示。8) Send the measurement results to the display device for display.

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